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Published May 2001 | Published
Book Section - Chapter Open

Nonlinear control methods for planar carangiform robot fish locomotion

Abstract

Considers the design of motion control algorithms for robot fish. We present modeling, control design, and experimental trajectory tracking results for an experimental planar robotic fish system that is propelled using carangiform-like locomotion. Our model for the fish's propulsion is based on quasi-steady fluid flow. Using this model, we propose gaits for forward and turning trajectories and analyze system response under such control strategies. Our models and predictions are verified by experiment.

Additional Information

© 2001 IEEE. Date of Current Version: 18 April 2006. This work was supported in part by the National Science Foundation through an Engineering Research Center grant and through NSF grant CMS-9502224.

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